Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna

Iuvo S.r.l.

Azienda Ospedaliera Pisana

Azienda Ospedaliero-Universitaria Pisana

Scuola Superiore S.anna

Scuola Superiore Di Studi Universitari E Perfezionamento Sant' Anna

Scuola Superiore Di Studi Universitari S. Anna

Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna Di Pisa

Francesco Giovacchini

Nicola Vitiello

Marco Cempini

Matteo Moise

Andrea Baldoni

Mario Cortese

Maria Chiara Carrozza

Tommaso Lenzi

Matteo Fantozzi

Simona Crea

Luca Morelli

Stefano Marco Maria De Rossi

Giuseppe Colombina

Marco Muscolo

Emilio Trigili

Dario Marconi

Matteo Moisè

Giulio Proface

Stefano Roccella

Matteo Moisé

Azzurra Chiri

Matteo MoisÉ

Fabrizio Vecchi

Alessandro Persichetti

Emanuele Cattin

Chiara Livolsi

Roberto Conti

Andrea Parri

Franco Molteni

Eleonora Guanziroli

Matteo MoisÈ

Matteo Moise'

A rotational joint of intra-extra rotation for assistance of the movement of intra-extra rotation of a shoulder of a user. The rotational joint features a first circular guide arranged to rotate about a first rotation axis and a second circular guide arranged to rotate about a second rotation axis that is parallel to the first rotation axis. A support element is arranged to support the first and the second circular guides. The first and the second circular guide are pivotally connected by a conical wheel having a third rotation axis perpendicular to the first rotation axes and said conical wheel being pivotally constrained to the support element.

Exoskeleton for upper arm

An exoskeleton includes a frame; and an actuation system. The actuation system includes a transmission device; a passive joint mechanism connecting the frame to the transmission device, the passive joint mechanism having a four-bar linkage; and a drive system couples the passive joint mechanism to the transmission device, and is arranged to drive the transmission device.

Actuation system in an exoskeleton

A system for assisting an operator in exerting efforts comprises a garment that can be worn by the operator, which is to engage, when worn, the mutually mobile parts of a joint of the operator. The system defines at least one axis of rotation that is to assume a position corresponding to the joint of the operator. A device is carried by the garment and designed to operate so as to compensate the resistive moments that act on the joint during the effort exerted by the operator. A compensation device is provided equipped with a rotational assembly, which has a neutral position and is able to determine a pre-set plot of the assisting torque that is a function of the angle of rotation of the joint. The compensation device may include a tension regulation device to regulate a moment obtained about the joint of the operator.

System for assisting an operator in exerting efforts

A system for assisting an operator in exerting efforts comprises a frame having one or more degrees of freedom and supporting a compensation device arranged to provide assistive forces to a joint of the operator. The compensation device comprises a regulation device comprising a motor arranged to adjust a degree of tension in an elastic mechanism. The regulation device receives instructions from a control system based on information obtained from an encoder or the operator's preferences recorded at a control panel.

A transmissive joint has an elastic response for transmitting a torsional load capable of ensuring the transmission in the absence of coaxiality between two actuating and actuated devices, and allowing the internal passage of cabling or possible accessory components along the axis of transmission/torsion.

Joint for transmitting a torsional load with elastic response

Exoskeleton kinematic chain arranged to pivotally connect a first element to a second element, said first element comprising two pivot points Aand Blocated at a distance, said second element comprising two pivot points Aand Blocated at a distance. The exoskeleton kinematic chain comprises a first external link pivotally connected to the first element at the pivot point Aand a first end link pivotally connected to the first external link at a pivot point D, said pivot point Dbeing located at a distanceby the pivot point A. The exoskeleton kinematic chain comprises then a second external link pivotally connected to the second element at the pivot point A, and a second end link pivotally connected to the second external link at a pivot point D, said pivot point Dbeing located at a distanceby the pivot point A. The exoskeleton kinematic chain also comprises a first intermediate link pivotally connected to the first element at the pivot point Band integrally connected to the second end link at a junction point C, a second intermediate link pivotally connected to the second element at the pivot point Band integrally connected to the first end link at a junction point C. The first and the second end link are pivotally connected to each other at a pivot point M. Defining==&#x3b8;, for any value of &#x3b8;, the projections of the pivot points A, B, A, Bin a plane &#x3c0;, lay in a circumference K having center O and radius r======, in such a way that decreasing the value of &#x3b8; the first and the second element rotate with respect to each other about an axis z orthogonal to the plane &#x3c0; and passing through the center O in the direction for which the point Ais overlapped to the point B.

Ergonomic exoskeleton system for the upper limb

A monolateral actuation system of a hip articulation is configured to be connected to an orthosis. The monolateral actuation system comprises a motor device arranged to provide assistive torque at a motor axis; a transmission device is connected to the motor axis and arranged for transferring the assistive torque onto an output axis corresponding to an axis of flexion-extension of the hip articulation and parallel to the motor axis. The transmission device includes a cable and first and second pulleys connected to one another by the cable. The first and second pulleys are arranged to extend relative to one another variably. A fixed frame is provided for connecting to the orthosis onto which the motor device and the transmission device are mounted.

Actuation system for hip orthosis

A kinematic chain comprises a first pulley, arranged to rotate about a rotation axis x, and a second pulley arranged to rotate about a rotation axis y. The kinematic chain comprises then at least one connecting element comprising at least one passage having at least one rotating element, said or each connecting element also comprising at least one interface arranged to connect the connecting element to an adjacent connecting element or to a pulley, generating a rotational constraint about a rotation axis z. The kinematic chain also comprises a transmission element arranged to develop along a determined path for transmitting a rotational motion between the first pulley and the second pulley. The transmission element is adapted to be, in use, fixedly in contact with said or each rotating element by a constraint of rolling friction, in order to allow a modelling the determined path according to a predetermined geometry.

Kinematic chain for transmission of mechanical torques

A kinematical chain () for assisting a spherical motion of an anatomical joint () of a finger of the hand () of a user, said anatomical joint () having centre of rotation P and being arranged for allowing a relative motion of a finger of the hand () with respect to a portion of hand () of the user, said finger of the hand () defining a longitudinal direction &#x3b4;. The kinematical chain () comprises a first rotational joint () engaged to the finger of the hand () and to a first connection link (), said first rotational joint () arranged to provide a relative rotation &#x3b1; between the first connection link () and the finger of the hand () about a rotation axis x coincident with the longitudinal direction &#x3b4;. The kinematical chain () also comprises a third rotational joint () engaged to the portion of hand () and to a second connection link (), said third rotational joint () arranged to provide a relative rotation &#x3b3; between the second connection link () and the portion of hand () about a rotation axis z integral to the portion of hand (). The kinematical chain () comprises then a second rotational joint () engaged to the first connection link () and to the second connection link (), said second rotational joint () arranged to provide a relative rotation &#x3b2; between the first connection link () and the second connection link () about a rotation axis y. The rotation axes x, y and z intersect in a centre of rotation O, in such a way that the kinematical chain () allows a spherical motion of the longitudinal direction &#x3b4; with respect to the portion of hand () about the centre of rotation P.

Kinematical chain for assisting the motion of a spherical joint

A torsional spring that can be used as a joint adapted to transmit at torsion actuation with elastic response. The torsional spring relates to a compact torsional elastic element, provided with a linear torque characteristic which is also not affected by the direction of rotation. The torsional spring is capable of attaining a high transmissible torque relative to its weight and overall dimension.

Torsional transmission element with elastic response

Growing community of inventors

Pisa, Italy

Francesco Giovacchini